models: add main recovery checkpoints

models/main_recovery/ik_delta_joint_mip_fk_recovery_seed0/config3_bs512/2026-05-27_15-32-22/config.yaml

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+log:
+  log_dir: .
+  wandb_mode: online
+  project: mip
+  group: main_recovery
+  exp_name: ik_delta_joint_mip_fk_recovery_seed0
+  exp_tag: config3_bs512
+  eval_freq: 20000
+  log_freq: 1000
+  save_freq: 20000
+  eval_episodes: 50
+  save_video: false
+optimization:
+  seed: 0
+  loss_type: mip
+  loss_scale: 1.0
+  norm_type: l2
+  lr: 0.0001
+  weight_decay: 1.0e-05
+  num_steps: 1
+  sample_mode: zero
+  t_two_step: 0.9
+  discrete_dt: 0.01
+  grad_clip_norm: 10.0
+  ema_rate: 0.995
+  batch_size: 512
+  gradient_steps: 300000
+  warmup_ratio: 0.0
+  rampup_ratio: 0.0
+  min_value: 1.0
+  max_value: 1.0
+  model_path: null
+  interp_type: linear
+  device: cuda
+  use_compile: false
+  compile_mode: null
+  use_cudagraphs: false
+  auto_resume: true
+network:
+  num_encoder_layers: 2
+  encoder_dropout: 0.0
+  encoder_type: mlp
+  emb_dim: 256
+  rgb_model_name: resnet18
+  use_seq: true
+  keep_horizon_dims: true
+  network_type: sudeepdit
+  num_layers: 8
+  dropout: 0.1
+  timestep_emb_dim: 128
+  n_heads: 4
+  timestep_emb_type: positional
+task:
+  env_name: ik_delta_joint
+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/merged_recovery_dataset
+  obs_dim: 20
+  act_dim: 6
+  obs_steps: 2
+  act_steps: 1
+  horizon: 1
+  max_episode_steps: 300
+  num_envs: 1
+  val_dataset_percentage: 0.1
+  urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf
+  end_link_name: end_link
+  fk_loss_weight: 0.1
+  fk_pos_weight: 1.0
+  fk_rot_weight: 0.1
+mode: train

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models/main_recovery/ik_delta_joint_mip_fk_recovery_seed1/config3_bs512/2026-05-27_15-32-43/config.yaml

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+log:
+  log_dir: .
+  wandb_mode: online
+  project: mip
+  group: main_recovery
+  exp_name: ik_delta_joint_mip_fk_recovery_seed1
+  exp_tag: config3_bs512
+  eval_freq: 20000
+  log_freq: 1000
+  save_freq: 20000
+  eval_episodes: 50
+  save_video: false
+optimization:
+  seed: 1
+  loss_type: mip
+  loss_scale: 1.0
+  norm_type: l2
+  lr: 0.0001
+  weight_decay: 1.0e-05
+  num_steps: 1
+  sample_mode: zero
+  t_two_step: 0.9
+  discrete_dt: 0.01
+  grad_clip_norm: 10.0
+  ema_rate: 0.995
+  batch_size: 512
+  gradient_steps: 300000
+  warmup_ratio: 0.0
+  rampup_ratio: 0.0
+  min_value: 1.0
+  max_value: 1.0
+  model_path: null
+  interp_type: linear
+  device: cuda
+  use_compile: false
+  compile_mode: null
+  use_cudagraphs: false
+  auto_resume: true
+network:
+  num_encoder_layers: 2
+  encoder_dropout: 0.0
+  encoder_type: mlp
+  emb_dim: 256
+  rgb_model_name: resnet18
+  use_seq: true
+  keep_horizon_dims: true
+  network_type: sudeepdit
+  num_layers: 8
+  dropout: 0.1
+  timestep_emb_dim: 128
+  n_heads: 4
+  timestep_emb_type: positional
+task:
+  env_name: ik_delta_joint
+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/merged_recovery_dataset
+  obs_dim: 20
+  act_dim: 6
+  obs_steps: 2
+  act_steps: 1
+  horizon: 1
+  max_episode_steps: 300
+  num_envs: 1
+  val_dataset_percentage: 0.1
+  urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf
+  end_link_name: end_link
+  fk_loss_weight: 0.1
+  fk_pos_weight: 1.0
+  fk_rot_weight: 0.1
+mode: train

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models/main_recovery/ik_delta_joint_mip_fk_recovery_seed2/config3_bs512/2026-05-27_15-33-37/config.yaml

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+log:
+  log_dir: .
+  wandb_mode: online
+  project: mip
+  group: main_recovery
+  exp_name: ik_delta_joint_mip_fk_recovery_seed2
+  exp_tag: config3_bs512
+  eval_freq: 20000
+  log_freq: 1000
+  save_freq: 20000
+  eval_episodes: 50
+  save_video: false
+optimization:
+  seed: 2
+  loss_type: mip
+  loss_scale: 1.0
+  norm_type: l2
+  lr: 0.0001
+  weight_decay: 1.0e-05
+  num_steps: 1
+  sample_mode: zero
+  t_two_step: 0.9
+  discrete_dt: 0.01
+  grad_clip_norm: 10.0
+  ema_rate: 0.995
+  batch_size: 512
+  gradient_steps: 300000
+  warmup_ratio: 0.0
+  rampup_ratio: 0.0
+  min_value: 1.0
+  max_value: 1.0
+  model_path: null
+  interp_type: linear
+  device: cuda
+  use_compile: false
+  compile_mode: null
+  use_cudagraphs: false
+  auto_resume: true
+network:
+  num_encoder_layers: 2
+  encoder_dropout: 0.0
+  encoder_type: mlp
+  emb_dim: 256
+  rgb_model_name: resnet18
+  use_seq: true
+  keep_horizon_dims: true
+  network_type: sudeepdit
+  num_layers: 8
+  dropout: 0.1
+  timestep_emb_dim: 128
+  n_heads: 4
+  timestep_emb_type: positional
+task:
+  env_name: ik_delta_joint
+  obs_type: state
+  env_type: ik
+  action_type: delta
+  abs_action: false
+  dataset_path: /home/geo/Documents/Data/merged_recovery_dataset
+  obs_dim: 20
+  act_dim: 6
+  obs_steps: 2
+  act_steps: 1
+  horizon: 1
+  max_episode_steps: 300
+  num_envs: 1
+  val_dataset_percentage: 0.1
+  urdf_path: /home/geo/Documents/Github/NatureIK/diffusion_policy/urdf_data/play_g2_usb_cam/urdf/play_g2_usb_cam.urdf
+  end_link_name: end_link
+  fk_loss_weight: 0.1
+  fk_pos_weight: 1.0
+  fk_rot_weight: 0.1
+mode: train

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